IEEE - Institute of Electrical and Electronics Engineers, Inc. - Hybrid feedback path following for robotic walkers via bang-bang control actions

2016 IEEE 55th Conference on Decision and Control (CDC)

Author(s): Marco Andreetto ; Stefano Divan ; Daniele Fontanelli ; Luigi Palopoli
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2016
Conference Location: Las Vegas, NV, USA
Conference Date: 12 December 2016
Page(s): 4,855 - 4,860
ISBN (Electronic): 978-1-5090-1837-6
ISBN (DVD): 978-1-5090-1844-4
DOI: 10.1109/CDC.2016.7799011
Regular:

This paper presents a control algorithm conceived to guide a robotic walking assistant along a planned path using electromechanical brakes. The device has been modelled as a Dubins' car, a wheeled... View More

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